Robot End Effector for O-Ring Gripping and Fitting
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Solution Overview
Problem
Industrial robots require complex configurations to handle various sizes and types of elastic components, such as O-rings, leading to increased space and cost requirements, particularly when automating tasks like fitting O-rings into assembly components, which complicates the fitting process.
Innovation Solution
An end effector with an elastic component holding unit featuring gripping members that can be driven by an object holding unit, utilizing a biasing mechanism to simplify the gripping and fitting of elastic components, allowing for adaptable handling of different sizes and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single robot is used to handle different objects with exchangeable hands or configuration changeable hands, then the robot's versatility is improved, but the device complexity increases and installation space increases
Solution Approach 1:
The end effector is divided into distinct functional modules: a base portion connected to the robot arm, and a separate elastic component holding unit with gripping members. This segmentation allows the gripping mechanism to be independently designed and exchanged without affecting the robot arm or other units, achieving versatility while maintaining simplicity of each module.
Solution Approach 2:
The elastic component holding unit is designed with multiple gripping members that can accommodate different sizes and types of elastic components (O-rings, seals, etc.) through a standardized interface with the base portion. This universal design allows a single end effector structure to handle various objects without requiring complex configuration changes.
2Reliability
If dedicated robots are arranged for each kind of object to be handled, then the robot's reliability is improved, but the installation space and manufacturing cost increase
Solution Approach 1:
The end effector incorporates a biasing unit that provides dynamic elastic force to the gripping members, enabling automatic adaptation to different elastic component sizes and shapes. This dynamic mechanism maintains reliable gripping performance across various objects without requiring multiple dedicated robots, thus saving installation space while preserving reliability.
3Manufacturing precision
If a complex hand configuration is used to fit elastic components like O-rings, then the fitting precision is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
The biasing unit provides self-service elastic force to the gripping members, enabling automatic gripping and fitting actions without requiring complex external actuation mechanisms. The elastic recovery force naturally pushes the gripping members against the elastic component, achieving precise fitting through the component's own elastic properties rather than complex positioning mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Simplifies the fitting work of elastic components by enabling efficient handling and fitting of O-rings and similar components, reducing the complexity and cost of the robot's configuration while expanding the range of handled objects without increasing space or manufacturing costs.
Implementation Method 1
a biasing unit for repulsively biasing each distal end portion of the plurality of elastic component gripping members from a releasing position for releasing the elastic component toward a gripping position for gripping the elastic component
Data Source
Figure 1~2
Figure 3
Figure 4
AI summary
An end effector (4) has an end effector base portion (5) connected to a robot arm, and an elastic component holding unit (9) provided to the end effector base portion (5) so as to hold an elastic component (02). The elastic component holding unit (9) has a plurality of elastic component gripping members which releasably grip the elastic component (O2), and a biasing unit (14) for repulsively biasing each distal end portion of the plurality of elastic component gripping members (12) from a releasing position for releasing the elastic component (02) toward a gripping position for gripping the elastic component (02). An end effector capable of simplifying a fitting work of an elastic component such as the O ring can be provided.